Modeling and Adaptive Control of an Omni-Mecanum-Wheeled Robot - Intelligent Control and Automation

ICA > Vol.4 No.2, May 2013

Modeling and Adaptive Control of an Omni-Mecanum-Wheeled Robot ()

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DOI: 10.4236/ica.2013.42021 17,236 Downloads 26,443 Views Citations

Author(s)

Lih-Chang Lin, Hao-Yin Shih

Affiliation(s)

Department of Mechanical Engineering, National Chung Hsing University, Taichung.

ABSTRACT

The complete dynamics model of a four-Mecanum-wheeled robot considering mass eccentricity and friction uncertainty is derived using the Lagrange’s equation. Then based on the dynamics model, a nonlinear stable adaptive control law is derived using the backstepping method via Lyapunov stability theory. In order to compensate for the model uncertainty, a nonlinear damping term is included in the control law, and the parameter update law with σ-modification is considered for the uncertainty estimation. Computer simulations are conducted to illustrate the suggested control approach.

KEYWORDS

Mecanum-Wheeled Mobile Robot; Dynamics Model; Backstepping Adaptive Control; Lyapunov Stability

Share and Cite:

Lin, L. and Shih, H. (2013) Modeling and Adaptive Control of an Omni-Mecanum-Wheeled Robot. Intelligent Control and Automation, 4, 166-179. doi: 10.4236/ica.2013.42021.

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